DE102019212491A1 - Underwater vehicle without an inertial navigation system - Google Patents

Abstract

The present invention relates to a. Underwater vehicle 10 without an inertial navigation system. In order to detect currents in the water, the underwater vehicle 10 has pressure sensors 50, 60, 70, 80, 90, 100.

Description

The invention relates to an underwater vehicle which allows more precise navigation under water without having to carry a complex and expensive inertial navigation system.

Underwater it is not possible for an underwater vehicle to simply determine an absolute position. While it is easily possible to determine the exact position on land or in the air, for example via satellite navigation, this possibility is not given underwater. Therefore, submarines usually carry an inertial navigation system such as a ring laser gyroscope with them. The absolute position is determined, for example, before descending, and then the position is determined relative to this absolute and known position.

Such inertial navigation systems, which work with corresponding precision, are expensive and comparatively complex. Particularly in the field of unmanned underwater vehicles, especially in the field of small unmanned underwater vehicles, inertial navigation systems are therefore regularly dispensed with, or inexpensive and correspondingly less precise systems are mostly used on a micro-electro-mechanical basis, as is now widely used in consumer products are.

The problem here is that the surrounding medium, water, due to its high density, easily takes the underwater vehicle off course when currents occur, the so-called drift. However, these currents can only be determined with conventional means by an underwater vehicle with great effort and thus at high costs.

From the post-published DE 10 2019 204 391 a method for controlling an autonomous underwater vehicle without an inertial navigation system is known.

The object of the invention is to provide an underwater vehicle which, without a complex but precise inertial navigation system, has a lower susceptibility to incorrect navigation caused by currents.

This object is achieved by the underwater vehicle with the features specified in claim 1, the method for operating an underwater vehicle with the features specified in claim 13 and by the method for calibrating the control device of an underwater vehicle with the features specified in claim 17. Advantageous developments result from the subclaims, the following description and the drawings.

The underwater vehicle according to the invention has at least a first drive, a control device and a shell. The drive can for example have a motor, at least one propeller and an X-rudder or cross rudder. Alternatively, the drive can have a motor and at least one pivotable propeller. Alternatively, the drive can have several propellers, for example four propellers, the control being achieved via different speeds of the different propellers. The drive can also have a combination of several propellers, rigid or swiveling, with an X-rudder or cross rudder. A motor can drive a propeller. However, a motor can also drive several propellers, for example two counter-rotating propellers arranged on an axis. The underwater vehicle has a longitudinal direction. The longitudinal direction corresponds to the natural direction of movement and extends from bow to stern. The horizontal is the plane in which the longitudinal direction of the underwater vehicle lies and which is arranged horizontally when the underwater vehicle is in the normal position. When driving above water, the horizontal is parallel to the water surface. The control device is designed to control the drive. For example and in particular, the control device controls one or more propellers, or the motors which drive the propellers. Likewise, the control device preferably controls the down rudder and rudder and / or an X-rudder, insofar as the underwater vehicle has them. The underwater vehicle has at least one first pressure sensor, the first pressure sensor being arranged on the shell and being designed to detect the ambient pressure.

The pressure sensor can be arranged on the shell in various ways. For example, the pressure sensor can be applied to the surface of the shell, the pressure sensor can be an integral part of the shell, the pressure sensor can be introduced into a recess in the shell or the shell can have a passage to the pressure sensor.

The underwater vehicle has at least one second pressure sensor, the second pressure sensor being arranged on the shell and being designed to detect the ambient pressure.

The shell has a first surface normal at the location of the first pressure sensor. Every surface has a surface normal at every point. The surface normal is defined as the vector which is perpendicular to the surface. In the case of a flat surface, all walk Surface normals parallel to each other and perpendicular to the surface. In the case of a sphere, the surface normal is the vector which passes from the sphere's surface on the straight line from the center of the sphere through the point on the surface. The surface normal of the shell of an underwater vehicle points away from the center of the underwater vehicle in terms of direction.

The first surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of more than 45 ° and a smallest angle to the horizontal of less than 45 °. The first surface normal also has a component directed to the starboard.

The first surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 75 ° and a smallest angle to the horizontal of less than 15 °. The first surface normal also has a component directed to the starboard.

The first surface normal particularly preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 85 ° and a smallest angle to the horizontal of less than 5 °. The first surface normal also has a component directed to the starboard.

The second surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of more than 45 ° and a smallest angle to the horizontal of less than 45 °. Furthermore, the second surface normal has a component directed to port.

The second surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 75 ° and a smallest angle to the horizontal of less than 15 °. Furthermore, the second surface normal has a component directed to port.

The second surface normal particularly preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 85 ° and a smallest angle to the horizontal of less than 5 °. Furthermore, the second surface normal has a component directed to port.

The control device is designed to detect the first ambient pressure determined by the first pressure sensor. Furthermore, the control device is designed to detect the second ambient pressure determined by the second pressure sensor.

p:

Druck, im gegeben Fall der Atmosphärendruck

p:

Dichte des Wassers

g:

Erdbeschleunigung

h:

Höhe der Wassersäule = Tiefe des Unterwasserfahrzeugs

v:

Geschwindigkeit des Wassers relativ zum Wasserfahrzeug (ortsabhängig)

The pressure, which is recorded by a pressure sensor, follows the Bernoulli equation: $$\text{p}+\mathrm{\rho }\text{gh}+\mathrm{\rho }{\text{v}}^2=\text{const}.$$

p:

Pressure, in the given case the atmospheric pressure

p:

Density of water

G:

Acceleration due to gravity

H:

Height of the water column = depth of the underwater vehicle

v:

Speed of the water relative to the watercraft (depending on location)

Due to the speed-dependent part, the measured pressure is dependent on the speed of the water relative to the underwater vehicle, so that a flow can be deduced from different pressures at different positions. This speed-dependent part forms a difference between the first ambient pressure (measured at the first pressure sensor) and the second ambient pressure (measured at the second pressure sensor). This means that a flow can be deduced from the pressure difference. By arranging the first pressure sensor to starboard and the second pressure sensor to port, both a direction of flow transverse to the direction of travel and the speed of the flow of the underwater vehicle can be determined.

Since the underwater vehicle is thus able to perceive the current, countermeasures can be actively taken and a given course can be maintained better. The underwater vehicle then controls the drive or the rudders in such a way that the effect of the current is at least partially compensated. This can be done by adjusting the rudder appropriately or, if there are several propellers, by setting the speed of the various propellers differently.

In a further embodiment of the invention, the first surface normal has an angle of 90 ° to the longitudinal direction of the underwater vehicle and the second surface normal has an angle of 90 ° to the longitudinal direction of the underwater vehicle. The first surface normal also has an angle of 0 ° to the horizontal and the second surface normal has an angle of 0 ° to the horizontal.

With this arrangement, only the flow component should be perpendicular to the direction of movement of the underwater vehicle be determinable so that the flow can be determined optimally.

In a further embodiment of the invention, the underwater vehicle has at least one third pressure sensor and at least one fourth pressure sensor. The third pressure sensor is arranged on the shell and designed to detect the ambient pressure. The fourth pressure sensor is arranged on the shell and designed to detect the ambient pressure.

The shell has a third surface normal at the location of the third pressure sensor and a fourth surface normal at the location of the fourth pressure sensor.

The third surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of less than 45 ° and a smallest angle to the horizontal of less than 45 °. Furthermore, the third surface normal has a component directed towards the bow.

The third surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of less than 15 ° and a smallest angle to the horizontal of less than 15 °. Furthermore, the third surface normal has a component directed towards the bow.

The third surface normal particularly preferably has a smallest angle to the longitudinal direction of the underwater vehicle of less than 5 ° and a smallest angle to the horizontal of less than 5 °. Furthermore, the third surface normal has a component directed towards the bow.

The fourth surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of less than 45 ° and a smallest angle to the horizontal of less than 45 °. Furthermore, the fourth surface normal has a component directed towards the rear.

The fourth surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of less than 15 ° and a smallest angle to the horizontal of less than 15 °. Furthermore, the fourth surface normal has a component directed towards the rear.

The fourth surface normal particularly preferably has a smallest angle to the longitudinal direction of the underwater vehicle of less than 5 ° and a smallest angle to the horizontal of less than 5 °. Furthermore, the fourth surface normal has a component directed towards the rear.

The control device is designed to detect the third ambient pressure determined by the third pressure sensor and to detect the fourth ambient pressure determined by the fourth pressure sensor.

This arrangement makes it possible to identify currents or flow components that come from the front or the rear and thus make the underwater vehicle faster or slower.

The third pressure sensor and the fourth pressure sensor are particularly preferably arranged on the front and rear of the tower. This arrangement, away from a propeller, is optimal, in particular for rear-facing alignment.

In a further embodiment of the invention, the third surface normal has an angle of 0 ° to the longitudinal direction of the underwater vehicle and the fourth surface normal has an angle of 0 ° to the longitudinal direction of the underwater vehicle. Furthermore, the third surface normal has an angle of 0 ° to the horizontal and the fourth surface normal has an angle of 0 ° to the horizontal.

In a further embodiment of the invention, the underwater vehicle has at least one fifth pressure sensor and at least one sixth pressure sensor. The fifth pressure sensor is arranged on the shell and designed to detect the ambient pressure. The sixth pressure sensor is arranged on the shell and designed to detect the ambient pressure.

The shell has a fifth surface normal at the point of the fifth pressure sensor and a sixth surface normal at the point of the sixth pressure sensor.

The fifth surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of more than 45 ° and a smallest angle to the horizontal of more than 45 °. Furthermore, the fifth surface normal has an upward component.

The fifth surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 75 ° and a smallest angle to the horizontal of more than 75 °. Furthermore, the fifth surface normal has an upward component.

The fifth surface normal particularly preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 85 ° and a smallest angle to the horizontal of more than 85 °. Furthermore, the fifth surface normal has an upward component.

The sixth surface normal has a smallest angle to the longitudinal direction of the underwater vehicle of more than 45 ° and a smallest angle to the horizontal of more than 45 °. Furthermore, the sixth surface normal has a downward component.

The sixth surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 75 ° and a smallest angle to the horizontal of more than 75 °. Furthermore, the sixth surface normal has a downward component.

The sixth surface normal preferably has a smallest angle to the longitudinal direction of the underwater vehicle of more than 85 ° and a smallest angle to the horizontal of more than 85 °. Furthermore, the sixth surface normal has a downward component.

The control device is designed to detect the fifth ambient pressure determined by the fifth pressure sensor and to detect the sixth ambient pressure determined by the sixth pressure sensor.

This arrangement makes it possible to record vertical flows or flow components. In this way, in particular, an unwanted lowering of the underwater vehicle can be prevented, so that the pressure and thus the load on the underwater vehicle increase as the depth increases.

In a further embodiment of the invention, the fifth surface normal has an angle of 90 ° to the longitudinal direction of the underwater vehicle and the sixth surface normal has an angle of 90 ° to the longitudinal direction of the underwater vehicle. The fifth surface normal also has an angle of 90 ° to the horizontal and the sixth surface normal has an angle of 90 ° to the horizontal.

This arrangement enables optimal detection of vertical flows or flow components.

In a further preferred embodiment of the invention, the underwater vehicle has at least a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor and a sixth pressure sensor. Particularly preferred are the first surface normal and the second surface normal anti-parallel, the third surface normal and the fourth surface normal anti-parallel and the fifth surface normal and the sixth surface normal anti-parallel. These three pairs of surface normals are particularly preferably each perpendicular to one another, so that they form a Cartesian coordinate system.

In a further embodiment of the invention, the first pressure sensor and the second pressure sensor are designed as sensor arrays, preferably as micro-electro-mechanical systems (MEMS). The first pressure sensor and the second pressure sensor are particularly preferably designed to be flexible. The advantage of this embodiment is the simple, subsequent attachment of the pressure sensors to the outer shell.

In a further embodiment of the invention, the pressure sensors are glued to the shell of the underwater vehicle. Alternatively, the pressure sensors can be attached to the casing with a holding means. The simplest example of a retaining means can be a rubber band or a cable tie. Alternatively, the pressure sensors are arranged on a flexible carrier, wherein the flexible carrier can be slipped over the shell of the submarine, for example comparable to a glove, in particular a disposable glove, which can be pulled over a hand.

In a further embodiment of the invention, the first pressure sensor and the second pressure sensor are also designed for the simultaneous detection of temperature and / or conductivity. Temperature and conductivity can be further indicators which can be used for the control device. For example, the density of the surrounding water and thus the frictional resistance can be inferred from the temperature and ambient pressure. The conductivity is an indication of the salt content, which also has an influence on the density of the surrounding water and thus on the frictional resistance. An increase in conductivity and a decrease in temperature both indicate an increase in the density of the surrounding water.

In a further embodiment of the invention, the shell of the underwater vehicle is covered to at least 30%, preferably at least 50%, with pressure sensors. The greater the number of sensors, the more precisely the pressure curve on the envelope can be determined. The direction of flow of a cross flow and its intensity can be determined from the pressure profile by means of the pressure differences. However, it is disadvantageous that the data processing capacity of the underwater vehicle must be designed to be correspondingly larger.

In a further embodiment of the invention, with a large number of pressure sensors, two pressure sensors are arranged in pairs opposite one another, each with antiparallel surface normals.

In a further embodiment of the invention, the first pressure sensor and the second pressure sensor are arranged on the outside of the shell of the underwater vehicle. The first pressure sensor and the second pressure sensor are particularly preferably detachably connected to the shell of the underwater vehicle. On the one hand, the arrangement on the outside of the cover enables easy replacement. There is always the risk that pressure sensors will be damaged when deploying and retrieving the submersible. In addition, it may be possible to equip underwater vehicles according to the mission, to upgrade them easily and to maintain them.

In a further embodiment of the invention, the first pressure sensor and the second pressure sensor are supplied with energy in a contactless manner from the interior of the underwater vehicle. Furthermore, the first pressure sensor and the second pressure sensor are designed for contactless communication with the interior of the underwater vehicle. For example, the pressure sensors have coils for an inductive coupling for this purpose. As an alternative or in addition, the pressure sensors can have electrodes which form capacitances with electrodes arranged in the interior of the underwater vehicle. For example, communication and energy supply can take place by means of near-field communication, for example at 13.56 MHz.

In a further embodiment of the invention, the first pressure sensor and the second pressure sensor are supplied with energy from the interior of the underwater vehicle with contact. Furthermore, the first pressure sensor and the second pressure sensor are designed to communicate with the interior of the underwater vehicle via a data line.

In a further embodiment of the invention, the underwater vehicle is an autonomous underwater vehicle. The underwater vehicle is particularly preferably an autonomous underwater vehicle with a mass of less than 50 kg.

1. a) beschleunigungsfreies Fahren des Unterwasserfahrzeugs für ein Zeitintervall t₁,
2. b) Erfassen wenigstens des ersten Umgebungsdrucks und des zweiten Umgebungsdrucks während des Zeitintervalls t₁,
3. c) Ermittlung der Druckdifferenz zwischen dem ersten Umgebungsdruck und im zweiten Umgebungsdrucks und Abschätzen einer die Druckdifferenz erzeugenden Strömung,
4. d) Anpassen der Steuerdaten zur Ansteuerung des Antriebes Unterwasserfahrzeuges an die abgeschätzte Strömung,
5. e) Durchführen der Kurskorrektur.

In a further aspect, the invention relates to a method for operating an underwater vehicle according to the invention, the method having the following steps:

1. a) acceleration-free driving of the underwater vehicle for a time interval t ₁ ,
2. b) detecting at least the first ambient pressure and the second ambient pressure during the time interval t ₁ ,
3. c) Determination of the pressure difference between the first ambient pressure and in the second ambient pressure and estimation of a flow generating the pressure difference,
4. d) Adaptation of the control data for controlling the drive of the underwater vehicle to the estimated current,
5. e) Carrying out the course correction.

Acceleration-free travel includes constant speed and linear movement. The depth is also preferably kept constant.

Carrying out course corrections in step e) Success, for example, by setting the position of the rudder and / or elevator, the direction of a propeller or the speed difference between several propellers.

In a further embodiment of the invention, a period from 1 s to 1 min, preferably from 10 s to 30 s, is selected _{as the time interval t 1.}

In step b), a measurement can be carried out at any point in time within the interval. Several pressure measurements are preferably carried out on both sensors in the time interval. The individual measurements are particularly preferably averaged and the standard deviation is determined. If the standard deviation is too large, the measurement can be rejected as not meaningful. In this case, the watercraft does not carry out the following steps, but preferably repeats step b).

In a further embodiment of the invention, the first ambient pressure recorded _{in step b) is averaged over the period t 1} and the second ambient pressure recorded in step b _{) is averaged over the period t 1} before the pressure difference is determined in step c).

• f) Vorhersagen einer neuen Druckdifferenz für den neu berechneten Kurs.

In a further embodiment of the invention, the method further comprises the following step:

• f) predicting a new pressure differential for the newly calculated course.

• m) Verbringen des Unterwasserfahrzeugs in einen Bereich ohne äußere Strömung,
• n) Fahren des Unterwasserfahrzeugs bei einer ersten Geschwindigkeit und Erfassen der Umgebungsdrücke,
• o) Fahren des Unterwasserfahrzeugs bei einer zweiten Geschwindigkeit und Erfassen der Umgebungsdrücke,
• p) Erzeugen einer Gegenströmung und Durchführen der Schritte n) und o),
• q) Erzeugen einer Strömung von Achtern und Durchführen der Schritte n) und o),
• r) Erzeugen einer Strömung von Steuerbord und Durchführen der Schritte n) und o),
• s) Erzeugen einer Strömung von Backbord und Durchführen der Schritte n) und o),
• t) Erzeugen einer Strömung von oben und Durchführen der Schritte n) und o),
• u) Erzeugen einer Strömung von unten und Durchführen der Schritte n) und o),
• z) Errechnen eines Strömungsmodells aus den gewonnenen Daten.

In a further aspect, the invention relates to a method for calibrating the control device of an underwater vehicle according to the invention, the method having the following steps:

• m) moving the underwater vehicle into an area without an external current,
• n) driving the underwater vehicle at a first speed and recording the ambient pressures,
• o) Driving the underwater vehicle at a second speed and recording the ambient pressures,
• p) generating a countercurrent and performing steps n) and o),
• q) creating a flow from aft and performing steps n) and o),
• r) generating a flow from starboard and performing steps n) and o),
• s) generating a current from port side and performing steps n) and o),
• t) generating a flow from above and carrying out steps n) and o),
• u) generating a flow from below and performing steps n) and o),
• z) Calculating a flow model from the data obtained.

Steps m) to u) can be carried out in any order before step z).

For example, and in particular, the underwater vehicle is introduced into a flow channel for this purpose. A wide variety of speeds as well as a wide variety of currents and directions of currents relative to the longitudinal direction of the underwater vehicle can be implemented in a flow channel. The parameter speed and flow are known through the experimental setup and pressure differences can therefore be assigned to these value parameters.

In a further embodiment of the invention, the data are transmitted to the control device of another structurally identical underwater vehicle. Particularly in the case of small autonomous underwater vehicles which are built in large numbers with identical external dimensions, it is not necessary to measure each one individually. In addition to so-called underwater drones, it can also be a torpedo, for example.

In a further embodiment of the invention, the maximum speed of the underwater vehicle is selected as the first speed in step n) and the second speed in step o).

In a further embodiment of the invention, movement is carried out between step n) and step o) at further speeds between the first speed and the second speed and the ambient pressures are recorded, preferably at least three more, more preferably at least ten more, particularly preferably at least 50 more, speeds are used and the ambient pressures are recorded.

In a further embodiment of the invention, further steps are carried out analogously to steps p) to u), with flows being generated which represent a superposition of the flows in steps p) to u). Particularly preferably, these are the twelve diagonals between the vectors of the flows, which are implemented in steps p) to u), each at a 45 ° angle to the vectors of the flow in steps p) to u), and the eight Diagonals between two vectors of the flows in steps p) to u), each at a 45 ° angle to two of the vectors of the flows in steps p) to u).

In a further embodiment of the invention, in steps p) to u) the detection of the ambient pressures is carried out in each case with currents that differ in amount.

• 1 Ansicht von Steuerbord
• 2 Ansicht von oben
• 3 Ansicht von Backbord
• 4 Ansicht von unten
• 5 Ansicht von intern
• 6 Ansicht von vorn

The underwater vehicle according to the invention is explained in more detail below using an exemplary embodiment shown in the drawings.

• 1 Starboard view
• 2 View from above
• 3 Port view
• 4th Bottom view
• 5 Internal view
• 6th Front view

The figures show an underwater vehicle 10 from different perspectives. The underwater vehicle 10 has a tower 20th and a propeller 30th on. The rudder and down elevator have been omitted for simplicity. Alternatively or additionally, the underwater vehicle 10 two or four propellers 30th exhibit. The underwater vehicle 10 has a longitudinal direction 40 on which in 1 to 4th is shown. The horizontal corresponds to the plane of the paper in 2 and 4th .

The underwater vehicle 10 has a first pressure sensor 50 , a second pressure sensor 60 , a third pressure sensor 70 , a fourth pressure sensor 80 , a fifth pressure sensor 90 and a sixth pressure sensor 100 on. The sheath points in place of the first pressure sensor 50 a first Surface normals 52 , in place of the second pressure sensor 60 a second surface normal 62 , in place of the third pressure sensor 70 a third surface normal 72 , in place of the fourth pressure sensor 80 a fourth surface normal 80 , in place of the fifth pressure sensor 90 a fifth surface normal 92 and in place of the sixth pressure sensor 100 a sixth surface normal 102 on.

The first pressure sensor 50 and the second pressure sensor 60 are on the side of the underwater vehicle 10 arranged so that the first surface normal 52 and the second surface normal 62 in the horizontal perpendicular to the longitudinal direction 40 of the underwater vehicle 10 are arranged.

The third pressure sensor 70 and the fourth pressure sensor 80 are like that on the tower 20th arranged that the third surface normal 72 and the fourth surface normal 82 parallel to the longitudinal direction 40 of the underwater vehicle 10 are aligned.

The fifth pressure sensor 90 and the sixth pressure sensor 100 are like this on top and bottom of the underwater vehicle 10 arranged so that the fifth surface normal 92 and the sixth surface normal 102 perpendicular to the horizontal and perpendicular to the longitudinal direction 40 of the underwater vehicle 10 are arranged.

List of reference symbols

10

Underwater vehicle

20th

tower

30th

propeller

40

Longitudinal direction

50

first pressure sensor

52

first surface normals

60

second pressure sensor

62

second surface normal

70

third pressure sensor

72

third surface normal

80

fourth pressure sensor

82

fourth surface normal

90

fifth pressure sensor

92

fifth surface normal

100

sixth pressure sensor

102

sixth surface normal

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102019204391 [0005]

Claims (22)

Underwater vehicle (10), the underwater vehicle (10) having at least a first drive, a control device and a shell, the underwater vehicle (10) having a longitudinal direction (40), the horizontal being the plane in which the longitudinal direction (40) of the Underwater vehicle (10) and which is arranged horizontally in the normal position of the underwater vehicle (10), the control device being designed to control the drive, the underwater vehicle (10) having at least one first pressure sensor (50), the first pressure sensor (50) is arranged on the shell and designed to detect the ambient pressure, characterized in that the underwater vehicle (10) has at least one second pressure sensor (60), the second pressure sensor (60) being arranged on the shell and designed to detect the ambient pressure, wherein the shell has a first surface normal (52) at the location of the first pressure sensor (50), wherein the first surface normal (52) has a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of more than 45 °, the first surface normal (52) having a smallest angle to the horizontal of less than 45 °, the first surface normal ( 52) has a component directed to starboard, the second surface normal (62) having a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of more than 45 °, the second surface normal having a smallest angle to the horizontal of less than 45 ° the second surface normal (62) having a component directed to port, the control device being designed to detect the first ambient pressure determined by the first pressure sensor (50), the control device being designed to detect the second ambient pressure determined by the second pressure sensor (60) is. Underwater vehicle (10) Claim 1 , characterized in that the first surface normal (52) has an angle of 90 ° to the longitudinal direction (40) of the underwater vehicle (10), the second surface normal (62) having an angle of 90 ° to the longitudinal direction (40) of the underwater vehicle (10) wherein the first surface normal (52) has an angle of 0 ° to the horizontal, the second surface normal (62) having an angle of 0 ° to the horizontal. Underwater vehicle (10) according to one of the preceding claims, characterized in that the underwater vehicle (10) has at least one third pressure sensor (70) and at least one fourth pressure sensor (80), the third pressure sensor (70) being arranged on the shell and for detection of the ambient pressure, the fourth pressure sensor (80) being arranged on the shell and being designed to detect the ambient pressure, the shell having a third surface normal (72) at the location of the third pressure sensor (70), the shell at the location of the fourth pressure sensor (80) has a fourth surface normal (82), the third surface normal (72) having a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of less than 45 °, the third surface normal (72) having a smallest Having an angle to the horizontal of less than 45 °, the third surface normal (72) having a component directed towards the bow, the fourth The surface normal (82) has a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of less than 45 °, the fourth surface normal (82) having a smallest angle to the horizontal of less than 45 °, the fourth surface normal (82) has a component directed towards the rear, the control device being designed to detect the third ambient pressure determined by the third pressure sensor (70), the control device being designed to detect the fourth ambient pressure determined by the fourth pressure sensor (80). Underwater vehicle (10) according to one of the preceding claims, characterized in that the underwater vehicle (10) has at least one fifth pressure sensor (90) and at least one sixth pressure sensor (100), the fifth pressure sensor (90) being arranged on the shell and for detection of the ambient pressure, the sixth pressure sensor (100) being arranged on the shell and being designed to detect the ambient pressure, the shell having a fifth surface normal (92) at the location of the fifth pressure sensor (90), the shell at the location of the sixth pressure sensor (100) has a sixth surface normal (102), the fifth surface normal (92) having a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of more than 45 °, the fifth surface normal (92) having a smallest Has an angle to the horizontal of more than 45 °, the fifth surface normal (92) having an upward component, the six The first surface normal (102) has a smallest angle to the longitudinal direction (40) of the underwater vehicle (10) of more than 45 °, the sixth surface normal (102) having a smallest angle to the horizontal of more than 45 °, the sixth surface normal (102 ) has a downward component, the control device being designed to detect the fifth ambient pressure determined by the fifth pressure sensor (90), the control device being designed to detect the sixth ambient pressure detected by the sixth pressure sensor (100). Underwater vehicle (10) Claim 4 , characterized in that the fifth surface normal (92) has an angle of 90 ° to the longitudinal direction (40) of the underwater vehicle (10), the sixth surface normal (102) having an angle of 90 ° to the longitudinal direction (40) of the underwater vehicle (10) has, the fifth surface normal (92) having an angle of 90 ° to the horizontal, the sixth surface normal (102) having an angle of 90 ° to the horizontal. Underwater vehicle (10) according to one of the preceding claims, characterized in that the first pressure sensor (50) and the second pressure sensor (60) are designed as sensor arrays, preferably as micro-electro-mechanical systems. Underwater vehicle (10) according to one of the preceding claims, characterized in that the first pressure sensor (50) and the second pressure sensor (60) are also designed for the simultaneous detection of temperature and / or conductivity. Underwater vehicle (10) according to one of the preceding claims, characterized in that the shell of the underwater vehicle (10) is covered to at least 30%, preferably at least 50%, with pressure sensors (50, 60, 70, 80, 90, 100). Underwater vehicle (10) according to one of the preceding claims, characterized in that the first pressure sensor (50) and the second pressure sensor (60) are arranged on the outside of the shell of the underwater vehicle (10). Underwater vehicle (10) according to one of the preceding claims, characterized in that the first pressure sensor (50) and the second pressure sensor (60) are detachably connected to the shell of the underwater vehicle (10). Underwater vehicle (10) according to one of the preceding claims, characterized in that the first pressure sensor (50) and the second pressure sensor (60) are supplied with energy in a contactless manner from the interior of the underwater vehicle (10), the first pressure sensor (50) and the second pressure sensors (60) are designed for contactless communication with the interior of the underwater vehicle (10). Underwater vehicle (10) according to one of the preceding claims, characterized in that the underwater vehicle (10) is an autonomous underwater vehicle (10). Method for operating an underwater vehicle (10) according to one of the preceding claims, characterized in that the method has the following steps: a) acceleration-free driving of the underwater vehicle (10) for a time interval t ₁ , b) recording at least the first ambient pressure and the second Ambient pressure during the time interval t ₁ , c) determining the pressure difference between the first ambient pressure and in the second ambient pressure and estimating a flow generating the pressure difference, d) adapting the control data for controlling the drive underwater vehicle (10) to the estimated flow, e) performing the Course correction. Procedure according to Claim 13 , characterized in that a period of 1 s to 1 min, preferably 10 s to 30 s, is selected as the time interval t _1. Method according to one of the Claims 13 to 14th , characterized in that the first ambient pressure detected in step b) over the period t ₁ and the second ambient pressure detected in step b) over the period t ₁ are averaged before determining the pressure difference in step c). Method according to one of the Claims 13 to 15th , characterized in that the method further comprises the following step: f) predicting a new pressure difference for the newly calculated course. Method for calibrating the control device of an underwater vehicle (10) according to one of the Claims 1 to 12 , characterized in that the method comprises the following steps: m) moving the underwater vehicle (10) into an area without an external current, n) driving the underwater vehicle (10) at a first speed and detecting the ambient pressure, o) driving the underwater vehicle (10) ) at a second speed and sensing the ambient pressures, p) generating a countercurrent and performing steps n) and o), q) generating a flow from aft and performing steps n) and o), r) generating a flow from starboard and Carrying out steps n) and o), s) generating a flow from port and carrying out steps n) and o), t) generating a flow from above and carrying out steps n) and o), u) generating a flow from below and performing steps n) and o), z) calculating a flow model from the data obtained. Procedure according to Claim 17 , characterized in that the data are transmitted to the control device of another structurally identical underwater vehicle (10). Method according to one of the Claims 17 to 18th , characterized in that the maximum speed of the underwater vehicle (10) is selected as the first speed in step n) and as the second speed in step o). Method according to one of the Claims 17 to 19th , characterized in that between step n) and step o) at further speeds between the first speed and the second speed and the ambient pressures are detected, preferably at least three more, more preferably at least ten more, particularly preferably at least 50 further, speeds are used and the ambient pressures are recorded. Method according to one of the Claims 17 to 20th , characterized in that further steps are carried out analogously to steps p) to u), with flows being generated which represent a superposition of the flows in steps p) to u). Method according to one of the Claims 17 to 21st , characterized in that in steps p) to u) the detection of the ambient pressures is carried out in each case with currents that differ in amount.

Images